Paraşüt-Yük Sistemlerinin Dinamik Modellenmesi ve Yol-Nokta Takibi /

Bir faydalı yükün istenen bir hedef noktaya paraşüt yardımıyla kontrollü düşürülmesi zor bir problem olarak bilinmektedir. Bu çalışmada paraşüt-yük sistemleri için geliştirdiğimiz simülasyon modeli ve nokta izler navigasyon algoritması anlatılmıştır. Geliştirilen algoritma paraşüt-yük sistemini, önceden tanımlanmış noktalar arasında sürme kabiliyetine sahiptir. Simülasyon sonuçları rüzgarlı ve rüzgarsız durumlar için sunulmuştur.

Anahtar Kelimeler:

Paraşüt, yük, nokta izler, navigasyon

Dynamic Modeling of Parachute-Payload Systems and Automatic Waypoint Tracking

Aerial delivery of a payload to a desired location is known to be a challenging problem. In this paper we develop a simulation model and a waypoint navigation algorithm for a parachute-payload system. Developed algorithm is capable of driving the parachute between predefined waypoints. Simulation results showing various waypoint navigation scenarios are presented.

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